/*
# Software License Agreement (MIT License)
#
# Copyright (c) 2019, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
*/

#include "xarm/wrapper/xarm_api.h"


int main(int argc, char **argv) {
    if (argc < 2) {
        printf("Please enter IP address\n");
        return 0;
    }
    std::string port(argv[1]);

    XArmAPI *arm = new XArmAPI(port);
    sleep_milliseconds(500);
    if (arm->error_code != 0) arm->clean_error();
    if (arm->warn_code != 0) arm->clean_warn();
    arm->motion_enable(true);
    arm->set_mode(0);
    arm->set_state(0);
    sleep_milliseconds(500);

    printf("=========================================\n");
    int ret;
    int io0 = -1, io1 = -1, prev_io0 = -1, prev_io1 = -1;
    while (arm->is_connected() && arm->error_code == 0) {
        ret = arm->get_tgpio_digital(&io0, &io1);
        if (ret == 0) {
            if (io0 == 1 && io0 != prev_io0) {
                printf("IO0 input high level\n");
            }
            if (io1 == 1 && io1 != prev_io1) {
                printf("IO1 input high level\n");
            }
            prev_io0 = io0;
            prev_io1 = io1;
        }
        sleep_milliseconds(100);
    }

    return 0;
}